Simultaneous Localization and Mapping (SLAM) aided INS/GPS navigation system is a landmark based terrain aided
autonomous integrated system that has the capability for online map building and simultaneously utilizing the generated
map to bind the errors in the Inertial Navigation System (INS) when GPS is not available. If GPS information is
available, the SLAM integrated system builds a landmark-based map using an INS/GPS solution. If GPS is not available,
the previously newly generated map is used to constrain the INS errors. The SLAM augmented INS/GPS system shows
two capabilities of landmark tracking and mapping using GPS information and more importantly, aiding the INS under
GPS denied situation. The validity of the proposed method is demonstrated by computer simulation.